Commit 31d3c8cb authored by stevet's avatar stevet
Browse files

fixed anymal slalom scripts + start state in rbprmFullBody

parent 71c7044f
......@@ -285,7 +285,7 @@ class FullBody (Robot):
num_max_sample = 1
for (limbName, normal) in zip(contacts, normals):
p = cl.getEffectorPosition(limbName,configuration)[0]
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, True)
return cl.setStartStateId(sId)
......@@ -303,7 +303,7 @@ class FullBody (Robot):
num_max_sample = 1
for (limbName, normal) in zip(contacts, normals):
p = cl.getEffectorPosition(limbName,configuration)[0]
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, True)
return cl.setEndStateId(sId)
## Initialize the first state of the path interpolation
......
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